JP4464154B2 - In-vehicle alarm system - Google Patents

Description

  The present invention relates to an in-vehicle notification device used in a state of being mounted on a vehicle.

A driver of a vehicle is likely to have insufficient attention to the rear of the vehicle compared to attention to the front of the vehicle.
Therefore, a distance sensor that detects the inter-vehicle distance between the host vehicle and the rear vehicle is provided at the rear of the vehicle, and if it is determined that there is a possibility of a rear-end collision based on the inter-vehicle distance detected by the distance sensor, There is one in which a stop lamp is turned on and a warning is displayed to the driver of the vehicle (see Patent Document 1).
Japanese Patent Laid-Open No. 10-24788

  By the way, as a point that the driver should pay attention to the rear of the vehicle, in addition to the rear-end collision, tracking by the rear vehicle can be mentioned. That is, a situation in which the rear vehicle is intentionally tracking the host vehicle (as one example, tailing by a stalker or the like can be considered). However, the configuration described in Patent Document 1 described above has no idea of informing such a situation.

  The present invention has been made in view of these problems, and an object thereof is to provide an in-vehicle notification device capable of prompting a driver to be aware of tracking of a rear vehicle.

Vehicle informing device according to claim 1 which has been made in order to achieve the above object is intended to be used while mounted on a vehicle, the vehicle both in the vehicle in which the vehicle informing device is mounted a rear state detection means for detecting the backward situation (e.g. microwave sensor), on the basis of the information detected by the rear condition detecting means, the rear wheel cars is a vehicle traveling behind the host vehicle to track the vehicle A vehicle for performing tracking determination means for determining whether or not there is a notification operation (for example, a notification operation by sound (melody, voice, etc.) or a notification operation by light (lamp, character, etc.)) to the passenger of the host vehicle And a notifying means and a tracking notifying control means for causing the own vehicle notifying means to perform a notifying operation for notifying the fact that the rear vehicle is tracking the own vehicle by the tracking determining means. Tracking judgment hand Is a case where the vehicle behind the vehicle is in a state where the relative speed of the vehicle behind the vehicle determined from the detection information by the vehicle situation detection means is within a predetermined range near 0 including 0 for a certain period of time. Is determined to be tracking.

That is, the in-vehicle notification device has a function of notifying a passenger (mainly a driver) of the own vehicle when there is a possibility that the rear vehicle is intentionally tracking the own vehicle. .
For this reason, according to this in-vehicle notification device, it is possible to notify the passenger of the own vehicle that there is a rear vehicle that may be intentionally tracking the own vehicle, and to prompt some action.
Further, in the in-vehicle notification device, when the rear vehicle is traveling at a traveling speed close to the traveling speed of the own vehicle for a certain time, it is determined that the rear vehicle is tracking the own vehicle.
The “predetermined range in the vicinity of 0 including 0” can be set as a range of ± 10 km / h (value is an example), for example. Moreover, in the structure provided with the own vehicle speed detection means as in claims 3 to 6, the “predetermined range in the vicinity of 0 including 0” may be a range that takes into account the speed of the own vehicle. For example, it can be set as a range of ± vehicle speed × 0.2 km / h (value is an example).
For this reason, according to this vehicle-mounted alerting device, the discriminability of the rear vehicle that intentionally tracks the host vehicle can be increased. That is, since the driver of the vehicle that intentionally tracks the vehicle ahead tries to drive as much as possible to the traveling speed of the preceding vehicle, the rear vehicle that continues traveling at a speed close to the traveling speed of the own vehicle. Is likely to have intentional tracking.

  Next, the in-vehicle notification device according to claim 2 accepts an operation for changing the distance range behind the subject vehicle to be detected by the rear state detection means in the in-vehicle notification device according to claim 1. A range changing operation means is provided. In addition, the in-vehicle notification device is configured such that the distance range behind the host vehicle, which is the target of detection by the rear situation detection unit, is changed according to the operation received by the range change operation unit. For this reason, according to this vehicle-mounted notification device, the distance range behind the host vehicle, which is the object of detection by the rear state detection means, can be set to an appropriate range according to the traveling state and the like. As a result, erroneous determination can be made difficult to occur.

  Next, the in-vehicle informing device according to claim 3 is the in-vehicle informing device according to claim 1 or 2, wherein the own vehicle speed detecting means for detecting the traveling speed of the own vehicle, and the own vehicle speed detecting means. When the traveling speed of the own vehicle detected by the vehicle is lower than a predetermined notification prohibiting speed, all or part of the notification operation by the own vehicle notification means (for example, the former of the notification operation by sound and the notification operation by light) Low-speed notification prohibiting means for prohibiting the notification operation).

That is, the in-vehicle notification device does not perform all or part of the notification operation when the traveling speed of the host vehicle is lower than the notification prohibition speed.
For this reason, according to this vehicle-mounted notification device, unnecessary notification operations can be reduced. In particular, since the sound notification operation is annoying if it is frequently performed, a configuration in which at least the sound notification operation is not performed is preferable.

  In addition, in a state where the host vehicle is being tracked by the rear vehicle, it is conceivable that the driver of the host vehicle unintentionally increases the speed. Therefore, for example, if the notification prohibition speed is set to the legal speed, for example, the notification operation is performed without being prohibited only when the traveling speed of the host vehicle exceeds the legal speed. It is possible to make the driver of the own vehicle recognize that it exceeds the limit.

  Next, the in-vehicle informing device according to claim 4 is the in-vehicle informing device according to claim 3, wherein the operation for selecting whether to prohibit the notification operation by the low-speed notification prohibiting unit is prohibited. Selection operation means is provided. In addition, the in-vehicle notification device is configured to select whether or not to prohibit the notification operation by the low-speed notification prohibition unit according to the operation received by the prohibition selection operation unit. For this reason, according to this vehicle-mounted notification device, it is possible to select whether or not to prohibit the notification operation in accordance with the traveling state or the like. As a result, it is possible to prevent the necessary notification from being lost.

  Next, the in-vehicle notification device according to claim 5 is provided with speed change operation means for receiving an operation for changing the notification prohibition speed in the in-vehicle notification device according to claim 3 or 4. Further, the in-vehicle notification device is configured such that the notification prohibition speed is changed according to the operation received by the speed change operation means. For this reason, according to the in-vehicle notification device, the notification prohibition speed can be set to an appropriate value according to the traveling state or the like. As a result, unnecessary notification can be made difficult to be performed. In particular, in the example in which the notification prohibition speed is set to the legal speed as described above, for example, if the notification prohibition speed can be changed to either the legal speed of a general road or the legal speed of a highway, Appropriate notification can be performed on each of the road and the highway.

By the way, as the own vehicle speed detection means, a vehicle speed sensor configured to read the rotation of the wheel with a pulse sensor can be used. For example, the following is preferable.
That is, in the in-vehicle notification device according to claim 6, in the in-vehicle notification device according to any of claims 3 to 5, the own vehicle speed detection means is based on a transmission radio wave from a GPS artificial satellite. Detects the traveling speed of the vehicle. According to this configuration, the in-vehicle notification device can be easily attached to the vehicle as compared with the configuration using the vehicle speed sensor. Therefore, for example, when the in-vehicle notification device is sold as a single unit, the purchaser can also attach the vehicle to the vehicle.

Next, in the in-vehicle notification device according to claim 7 , in the in-vehicle notification device according to any one of claims 1 to 6 , the tracking determination unit includes a plurality of states in which the rear vehicle tracks the host vehicle. The tracking notification control means performs notification operation according to the state of the plurality of stages distinguished by the tracking determination means when the tracking determination means determines that the rear vehicle is tracking the host vehicle. To the vehicle notification means. In other words, the in-vehicle notification device does not simply notify that there is a possibility that the rear vehicle is tracking the host vehicle, but distinguishes the state in which the rear vehicle is tracking the host vehicle in a plurality of stages. It informs. For this reason, according to this vehicle-mounted alerting device, detailed information can be provided to the passenger of the host vehicle.

Specifically, for example, as described in claim 8 , the tracking determination unit determines the state in which the rear vehicle is tracking the host vehicle according to the length of time that the rear vehicle is tracking the host vehicle. Judgment is made by distinguishing between multiple stages. According to this structure, the notification according to the high possibility that the following vehicle is tracking the own vehicle can be performed.

Next, the in-vehicle notification device according to claim 9 is the in-vehicle notification device according to any one of claims 1 to 8 , wherein the rear vehicle suddenly approaches the own vehicle based on the detection information by the rear state detection means. An approach determining means for determining whether or not the vehicle is in close proximity, and when the approach determining means determines that the rear vehicle is suddenly approaching the own vehicle, a notification operation for notifying the fact is performed on the own vehicle notifying means. And an approach notification control means.

For this reason, according to this in-vehicle notification device, it is possible to notify the passenger of the own vehicle that there is a rear vehicle that is approaching the own vehicle, and to prompt some action.
Next, in the in-vehicle notification device according to claim 10 , in the in-vehicle notification device according to claim 9 , the approach determination unit has a relative speed of the rear vehicle with respect to the own vehicle obtained from the detection information by the rear state detection unit. When it is equal to or greater than the predetermined value, it is determined that the rear vehicle is rapidly approaching the host vehicle.

That is, in this in-vehicle notification device, when the rear vehicle is traveling at a traveling speed faster than the own vehicle by a predetermined value or more, it is determined that the rear vehicle is rapidly approaching the own vehicle.
The “predetermined value” can be set to 30 km / h (value is arbitrary), for example. Further, when applied to the configuration including the own vehicle speed detecting means as in the third to sixth aspects, the “predetermined value” may be a value taking into account the speed of the own vehicle. For example, it can be set as a range of own vehicle speed × 0.3 km / h (value is an example).

For this reason, according to this vehicle-mounted alerting device, the discriminability of a rear vehicle that is rapidly approaching the host vehicle can be increased.
Next, in the in-vehicle notification device according to claim 11 , in the in-vehicle notification device according to claim 9 or 10 , the approach determination means sets the state in which the rear vehicle is rapidly approaching the host vehicle in a plurality of stages. The approach notification control means performs a notification operation according to a plurality of states distinguished by the approach determination means when the approach determination means determines that the rear vehicle is approaching the host vehicle suddenly. Let the vehicle notification means do it. That is, the in-vehicle notification device does not merely notify that the rear vehicle is approaching the host vehicle, but notifies the rear vehicle that is approaching the host vehicle in a plurality of stages. It is. For this reason, according to this vehicle-mounted alerting device, detailed information can be provided to the passenger of the host vehicle.

Specifically, for example, as described in claim 12 , the approach determination unit determines whether the rear vehicle is the host vehicle according to the degree of relative speed of the rear vehicle with respect to the host vehicle obtained from the detection information by the rear state detection unit. The state of sudden approach is determined by distinguishing it in multiple stages. According to this configuration, it is possible to perform notification according to the degree to which the rear vehicle is rapidly approaching the host vehicle.

Next, the in-vehicle informing device according to claim 13 is the in-vehicle informing device according to any one of claims 1 to 12 , wherein the risk that the rear vehicle collides with the own vehicle based on the detection information by the rear state detecting means. The rear collision determination means for determining whether or not the vehicle is high, the rear notification means for performing a notification operation to the occupant of the rear vehicle, and the rear collision determination means have determined that the risk of the rear vehicle colliding with the host vehicle is high. In this case, a rear-end collision notifying control unit for causing the rear notifying unit to perform a notification operation for notifying that effect is provided.

In other words, the in-vehicle notification device has a function of notifying a passenger (mainly a driver) of the rear vehicle when there is a risk that the rear vehicle will collide with the host vehicle.
For this reason, according to this in-vehicle notification device, it is possible to notify the occupant of the rear vehicle that there is a risk of collision with the host vehicle, and to encourage some countermeasures.

In addition, when applied to the configuration provided with the approach determination unit as in the above ninth to twelfth aspects, the rear-end collision determination unit may be configured to divert the determination result of the approach determination unit. That is, for example, when it is determined by the approach determining means that the rear vehicle is rapidly approaching the own vehicle, the rear collision determining means may determine that the risk of the rear vehicle colliding with the own vehicle is high. it can. In particular, as in claim 11 or 12 , when the approach determining means is applied to a configuration in which the state in which the rear vehicle is suddenly approaching the host vehicle is determined in a plurality of stages and determined, depending on the stage. The rear collision determination means may determine whether or not there is a high risk that the rear vehicle will collide with the host vehicle. In this way, simplification of processing can be achieved by using the approach determination means.

Next, the in-vehicle informing device according to claim 14 is the in-vehicle informing device according to any one of claims 1 to 13 , wherein the rear vehicle is moving away from the own vehicle based on the detection information by the rear state detecting means. A departure determination unit for determining whether or not, and when the departure determination unit determines that the rear vehicle is moving away from the host vehicle, a departure notification control for causing the host vehicle notification unit to perform a notification operation to notify that fact. Means. For this reason, according to this in-vehicle notification device, it is possible to notify the passenger of the own vehicle that the rear vehicle is moving away from the own vehicle. Thereby, grasping | ascertaining of the back condition by a driver | operator can be assisted effectively.

Next, in the in-vehicle notification device according to claim 15 , in the in-vehicle notification device according to claim 14 , the separation determination unit has a relative speed of the rear vehicle with respect to the host vehicle that is obtained from detection information by the rear state detection unit. When it is lower than 0 (when the traveling speed of the rear vehicle is slower than the traveling speed of the host vehicle), it is determined that the rear vehicle is moving away from the host vehicle. According to this configuration, it can be easily determined that the rear vehicle is moving away from the host vehicle.

Next, the in-vehicle notification device according to claim 16 is the vehicle-mounted notification device according to any of claims 1 to 15 , wherein the relative speed of the rear vehicle with respect to the host vehicle obtained from the detection information by the rear state detection means is calculated. Relative speed display means for displaying is provided. For this reason, according to this in-vehicle notification device, it is possible to allow the passenger of the own vehicle to grasp the state (relative speed) of the rear vehicle with respect to the own vehicle. Thereby, grasping | ascertaining of the back condition by a driver | operator can be assisted effectively.

Next, the in-vehicle notification device according to claim 17 is the in-vehicle notification device according to any one of claims 1 to 16 , wherein the in-vehicle notification device detects that the host vehicle is traveling on a curved road. When it is detected by the detection means and the curved road detection means that the host vehicle is traveling on a curved road, all or part of the notification operation by the own vehicle notification means (for example, notification by sound) Curve notification prohibiting means for prohibiting the former (notification operation of the former among the operation and the notification operation by light).

  That is, the in-vehicle notification device does not perform all or part of the notification operation when the host vehicle is traveling on a curved road. That is, while traveling on a curved road, it becomes difficult to accurately detect the situation behind the host vehicle by the rear situation detection means, and erroneous determination is likely to occur.

  For this reason, according to this vehicle-mounted notification device, it is possible to reduce the notification operation due to erroneous determination. In particular, since the sound notification operation is annoying if it is frequently performed, a configuration in which at least the sound notification operation is not performed is preferable.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
FIG. 1 is a block diagram illustrating a configuration of a rear state notification device 1 as an in-vehicle notification device according to an embodiment.

As shown in FIG. 1, the rear state notification device 1 includes a rear detection sensor 10, a rear warning lamp 20, a GPS receiver 30, a curve detection sensor 40, and a main body 50.
Here, the outline | summary of the function which the back state alerting | reporting apparatus 1 of this embodiment has is demonstrated easily.

  The rear state notification device 1 is used in a state where it is attached to a vehicle (automobile), and the situation behind the host vehicle 2 (the vehicle on which the rear state notification device 1 is mounted), specifically, the host vehicle. 2 has a function of notifying a passenger (mainly a driver) of the host vehicle 2 of the traveling state of the second rear vehicle (a vehicle traveling behind the host vehicle 2) 3. That is, as shown in FIG. 2, the rear state notification device 1 radiates a microwave toward the rear of the host vehicle 2, and obtains the relative speed of the rear vehicle 3 with respect to the host vehicle 2 based on the reflected wave. Based on the relative speed, notification is made that the rear vehicle 3 is abruptly approaching the host vehicle 2, is tracking the host vehicle 2, is separated from the host vehicle 2, or is moving away.

Next, each component of the back state alerting | reporting apparatus 1 of this embodiment shown in FIG. 1 is demonstrated concretely.
The rear detection sensor 10 is for detecting a situation behind the host vehicle 2, specifically, a relative speed of a target (mainly the rear vehicle 3) existing behind the host vehicle 2. In the present embodiment, the rear detection sensor 10 radiates a microwave to the rear of the host vehicle 2, and utilizes a Doppler effect generated between the radiated microwave and a reflected wave from a target existing behind. A so-called microwave sensor that detects the relative speed of the target is used. For this reason, the rear detection sensor 10 is attached to a position suitable for detection of the rear vehicle 3 in the own vehicle 2 (in this embodiment, the rear glass inside of the own vehicle 2) (see FIG. 2).

  The rear warning lamp 20 is a lamp (for example, LED) for alerting the driver of the rear vehicle 3 by blinking. For this reason, the rear warning lamp 20 is attached to a position in the own vehicle 2 that is easily visible from the driver of the rear vehicle 3 (in the present embodiment, the rear detection sensor 10 similarly to the rear glass of the own vehicle 2). (See FIG. 2).

  The GPS receiver 30 receives a radio wave transmitted from an artificial satellite for GPS (Global Positioning System) (hereinafter referred to as “GPS satellite”) via a GPS antenna, and detects the position, direction, speed, and the like of the host vehicle 2. Is to do. For this reason, the GPS receiver 30 is attached to a position (in the present embodiment, on the dashboard of the host vehicle 2) at which it is easy to receive transmission radio waves from GPS satellites (see FIG. 2).

  The curve detection sensor 40 is for detecting that the host vehicle 2 is traveling on a curved road (curved road traveling state). In the present embodiment, a lateral G sensor that detects the lateral acceleration (lateral G) of the host vehicle 2 is used as the curve detection sensor 40. For this reason, the curve detection sensor 40 is attached to a position (on the dashboard of the host vehicle 2 as in the GPS receiver 30 in this embodiment) where the host vehicle 2 can easily detect the traveling state on the curved road (see FIG. 2).

  The main body 50 is located at a position where the driver of the host vehicle 2 can easily see and operate (in the present embodiment, on the dashboard of the host vehicle 2 as with the GPS receiver 30 and the curve detection sensor 40). It is attached (see FIG. 2).

The main body 50 includes an operation unit 60, a speaker 80, and a controller (control unit) 90.
The operation unit 60 displays information for the occupant of the host vehicle 2 and accepts operations by the occupant of the host vehicle 2.

FIG. 3 is an explanatory diagram for explaining the external appearance of the operation unit 60.
As shown in the figure, the operation unit 60 includes a GPS reception lamp 61, a host vehicle speed display unit 62, a relative speed display unit 63, and a configuration for displaying information to the passengers of the host vehicle 2. A warning disapproval lamp 64, an approaching lamp 65, a leaving lamp 66, a tracking lamp 67, a warning level lamp 68, and an alarm lamp 69 are provided. Further, the operation unit 60 is configured to accept an operation from a passenger of the host vehicle 2, and includes a power switch 71, a volume adjuster 72, a detection range setting switch 73, warning disapproval buttons 74 and 75, a test. / Mute button 76 and warning switch button 77.

  The GPS reception lamp 61 is for displaying the reception state of radio waves from GPS satellites. Specifically, the light is turned on when the transmission radio wave from the GPS satellite can be received, and the light is turned off when the radio wave cannot be received. Thereby, the passenger | crew of the own vehicle 2 can know whether the transmission electromagnetic wave from a GPS satellite is received.

The own vehicle speed display unit 62 displays the own vehicle speed (the speed of the own vehicle 2).
The relative speed display unit 63 displays the relative speed of the rear vehicle 3 with respect to the host vehicle 2. That is, when the rear vehicle 3 is faster than the host vehicle 2 (when the rear vehicle 3 is approaching the host vehicle 2), a positive value is displayed, and the rear vehicle 3 is slower than the host vehicle 2. A negative value is displayed when the rear vehicle 3 is moving away from the host vehicle 2.

  The warning disapproval lamp 64 is for displaying a range of the vehicle speed that prohibits a warning by sound (notification operation). That is, the rear state notification device 1 of the present embodiment warns with sound (voice or melody) from the speaker 80 when the rear vehicle 3 is approaching the host vehicle 2 or when the host vehicle 2 is being tracked. Is supposed to do. However, in the rear state notification device 1, the vehicle speed is set to a predetermined warning prohibition speed (the notification prohibition speed of the present invention) in order to prevent frequent warnings even when no sound warning is required (false notification). If it is less than the above, a warning by sound is prohibited even in a situation where a warning should be given. Specifically, in the rear state notification device 1 of the present embodiment, the warning prohibition speed can be set to either 60 km / h or 80 km / h. The warning disapproval lamp 64 displays whether the warning prohibition speed is set to 60 km / h or 80 km / h. Specifically, the warning disapproval lamp 64 lights red when the warning prohibition speed is set to 60 km / h, and lights green when the warning prohibition speed is set to 80 km / h.

  The approach lamp 65 is lit when it is determined that the rear vehicle 3 is approaching the host vehicle 2 rapidly. Thereby, it is possible to prompt the occupant of the host vehicle 2 to deal with the rear vehicle 3 (for example, avoiding a rear-end collision).

  The departure lamp 66 is lit when it is determined that the rear vehicle 3 has left the host vehicle 2. In the rear state notification device 1 of the present embodiment, the light is turned on when the relative speed of the rear vehicle 3 with respect to the host vehicle 2 is lower than 0 (that is, when the travel speed of the rear vehicle 3 is slower than the travel speed of the host vehicle 2). It is like that.

  The tracking lamp 67 is lit when it is determined that the rear vehicle 3 is tracking the host vehicle 2. In the rear state notification device 1 according to the present embodiment, it is determined that the rear vehicle 3 is tracking when traveling at a traveling speed close to the host vehicle 2 for a certain period of time. Thereby, it is possible to urge the occupant of the host vehicle 2 to pay attention to the rear vehicle 3.

  The warning level lamp 68 includes five parallelogram-shaped lamps arranged in parallel, and performs level display in 0 to 5 levels. Thereby, it is possible to intuitively notify the occupant of the host vehicle 2 of the warning level.

The alarm lamp 69 is for giving a warning by flashing the flash.
The power switch 71 receives an operation for turning on / off the power of the rear state notification device 1.

The volume adjuster 72 receives an operation for adjusting the volume of the sound output from the speaker 80.
The detection range setting switch 73 receives an operation for setting (changing) the detection range behind the host vehicle 2 (distance range behind the host vehicle 2 to be detected) by the rear detection sensor 10. In other words, in the rear state notification device 1, the occupant of the host vehicle 2 can change the detection range, and the rear vehicle outside this range is not detected. Specifically, in the rear state notification device 1 of the present embodiment, the detection range can be set to any of within 30 m / within 60 m. By making the detection range changeable in this way, erroneous notification can be reduced.

  The warning disapproval buttons 74 and 75 receive an operation for setting (changing) the warning prohibition speed described above. Specifically, when the warning disapproval button 74 is pressed, the warning prohibition speed is set to 60 km / h, and the warning disapproval lamp 64 is lit red. On the other hand, when the warning disapproval button 75 is pressed, the warning prohibition speed is set to 80 km / h, and the warning disapproval lamp 64 lights in green.

  The test / mute button 76 is used to prevent a sound from being output from the speaker 80 when the button is pressed in a normal state (in a mute state). Further, when the test / mute button 76 is pressed in this mute state, all the voices and melody output from the speaker 80 are sequentially output by the present rear state notification device 1 (becomes a demo state). Further, when the test / mute button 76 is pressed in this state, the normal state is restored.

  The warning switching button 77 receives an operation for setting a warning by sound output from the speaker 80 to one of voice / melody. In other words, the rear detection sensor 10 can select a sound warning from voice and melody according to the preference of the passenger of the host vehicle 2.

On the other hand, the speaker 80 shown in FIG. 1 notifies the passenger of the host vehicle 2 by sound.
The controller 90 includes a well-known CPU 91, ROM 92, RAM 93, and the like.

Here, processing (the following (A) to (F)) performed by the controller 90 will be described.
(A): Own vehicle speed display processing The controller 90 periodically calculates the own vehicle speed based on the detection information from the GPS receiver 30, and displays the calculated own vehicle speed on the own vehicle speed display unit 62. I do.

(B): Relative speed display processing The controller 90 periodically calculates the relative speed of the rear vehicle 3 with respect to the host vehicle 2 based on the detection information from the rear detection sensor 10, and displays the calculated relative speed as a relative speed display unit 63. Process to be displayed on. Note that when there is no rear vehicle in the detection range by the rear detection sensor 10, nothing is displayed on the relative speed display unit 63.

(C): Approach notification process When the controller 90 determines that the rear vehicle 3 is rapidly approaching the host vehicle 2, the controller 90 issues a warning by sound while turning on the approach lamp 65 and blinking the alarm lamp 69. . The degree of rapid approach is displayed by a warning level lamp 68.

  Here, specific contents of the approach notification process will be described with reference to the flowcharts of FIGS. 4 and 5. The approach notification process is executed by the CPU 91 of the controller 90 according to a program stored in advance in the ROM 92 when the power switch 71 is turned on.

  When this approach notification process is started, it is first determined in step (hereinafter simply referred to as “S”) 110 whether or not the rear vehicle 3 exists. Specifically, the rear detection sensor 10 is used to determine whether or not the rear vehicle 3 is detected in the detection range set by the range detection switch.

  If it is determined in S110 that the rear vehicle 3 exists, the process proceeds to S120, and the value obtained by dividing the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 by the host vehicle speed Vo is less than 0.3 (that is, It is determined whether or not “Vs / Vo <0.3”). That is, it is determined whether or not the rear vehicle 3 is rapidly approaching the host vehicle 2. Here, it is determined that the rear vehicle 3 is rapidly approaching when traveling at a speed of 30% or more of the host vehicle speed, and is determined not to be rapidly approaching at a speed slower than this.

When it is determined in S120 that “Vs / Vo <0.3” (when it is determined that the rear vehicle 3 is not approaching rapidly), the process returns to S110.
On the other hand, when it is determined in S120 that “Vs / Vo <0.3” is not satisfied (when it is determined that the rear vehicle 3 is approaching rapidly), the process proceeds to S130, and the rear vehicle 3 with respect to the host vehicle 2 is determined. It is determined whether the value obtained by dividing the relative speed Vs by the host vehicle speed Vo is 0.3 or more and less than 0.4 (that is, “0.3 ≦ Vs / Vo <0.4”).

  If it is determined in S130 that “0.3 ≦ Vs / Vo <0.4”, the process proceeds to S140, and level 1 is displayed by the warning level lamp 68. Specifically, only the leftmost lamp among the five lamps of the warning level lamp 68 is turned on.

  On the other hand, if it is determined in S130 that “0.3 ≦ Vs / Vo <0.4” is not satisfied, the process proceeds to S150, and the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 is divided by the host vehicle speed Vo. It is determined whether the value is 0.4 or more and less than 0.5 (that is, “0.4 ≦ Vs / Vo <0.5”).

  If it is determined in S150 that “0.4 ≦ Vs / Vo <0.5”, the process proceeds to S160 and the warning level lamp 68 displays level 2. Specifically, the left two lamps among the five lamps of the warning level lamp 68 are turned on.

  On the other hand, if it is determined in S150 that “0.4 ≦ Vs / Vo <0.5”, the process proceeds to S170, and the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 is divided by the host vehicle speed Vo. It is determined whether or not the value is 0.5 or more and less than 0.6 (that is, “0.5 ≦ Vs / Vo <0.6”).

  If it is determined in S170 that “0.5 ≦ Vs / Vo <0.6”, the process proceeds to S180, and level 3 is displayed by the warning level lamp 68. Specifically, among the five lamps of the warning level lamp 68, the left three lamps are turned on.

  On the other hand, if it is determined in S170 that “0.5 ≦ Vs / Vo <0.6”, the process proceeds to S190, and the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 is divided by the host vehicle speed Vo. It is determined whether or not the value is 0.6 or more and less than 0.7 (that is, “0.6 ≦ Vs / Vo <0.7”).

  If it is determined in S190 that “0.6 ≦ Vs / Vo <0.7”, the process proceeds to S200, and level 4 is displayed by the warning level lamp 68. Specifically, among the five lamps of the warning level lamp 68, the left four lamps are turned on.

  On the other hand, if it is determined in S190 that “0.6 ≦ Vs / Vo <0.7” is not satisfied (that is, if “Vs / Vo ≧ 0.7” is determined), the process proceeds to S210. The warning level lamp 68 displays level 5. Specifically, all five lamps of the warning level lamp 68 are turned on.

  Thus, when it determines with the back vehicle 3 approaching rapidly (S120: NO), the level display of 5 steps | paragraphs according to the degree of rapid approach is performed (S130-S210).

  After level 3, level 4 or level 5 is displayed by the warning level lamp 68 (S180, S200, S210), the process proceeds to S220, and the blinking operation of the rear warning lamp 20 for a predetermined time is started. As a result, the driver of the rear vehicle 3 is alerted particularly in the case of a sudden approach with high danger.

  After the level 1 or level 2 is displayed by the warning level lamp 68 (S140, S160), or after the blinking operation of the rear warning lamp 20 is started (S220), the process proceeds to S230, and the approach lamp 65 Lights up. As a result, the driver of the host vehicle 2 is notified that the rear vehicle 3 is approaching rapidly.

Subsequently, in S240, the blinking operation of the alarm lamp 69 for a certain time is started. This gives a visual warning to the driver.
Subsequently, in S250, it is determined whether or not the host vehicle speed Vo is less than the warning prohibition speed set by the warning disapproval buttons 74 and 75.

  If it is determined in S250 that the host vehicle speed Vo is not less than the warning prohibition speed, the process proceeds to S260, and a sound warning is given. Specifically, when a warning by sound is set to sound by the warning switch button 77, a sound “The vehicle behind is approaching” is output from the speaker 80. Further, when the warning by sound is set to the melody by the warning switching button 77, the melody is output from the speaker 80. Then, the process proceeds to S270 (FIG. 5).

  On the other hand, if it is determined in S250 that the host vehicle speed Vo is less than the warning prohibition speed, the process directly proceeds to S270 (FIG. 5). That is, when the vehicle speed Vo is less than the warning prohibition speed, the warning by sound is prohibited.

In S270, similarly to S110, it is determined whether or not the rear vehicle 3 exists.
And if it determines with the back vehicle 3 existing in S270, it will transfer to S280 and the value which divided | segmented the relative speed Vs with respect to the own vehicle 2 of the back vehicle 3 by the own vehicle speed Vo similarly to S120. It is determined whether it is less than 3 (that is, “Vs / Vo <0.3”).

  If it is determined in S280 that “Vs / Vo <0.3” is not satisfied (when it is determined that the rear vehicle 3 is approaching rapidly), the process proceeds to S290, and the vehicle of the rear vehicle 3 is the same as S130. It is determined whether or not a value obtained by dividing the relative speed Vs with respect to the vehicle 2 by the host vehicle speed Vo is 0.3 or more and less than 0.4 (that is, “0.3 ≦ Vs / Vo <0.4”). .

If it is determined in S290 that “0.3 ≦ Vs / Vo <0.4”, the process proceeds to S300, and level 1 is displayed by the warning level lamp 68 as in S140.
On the other hand, if it is determined in S290 that “0.3 ≦ Vs / Vo <0.4” is not satisfied, the process proceeds to S310, and the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 is set to the host vehicle speed, similar to S150. It is determined whether the value divided by Vo is 0.4 or more and less than 0.5 (that is, “0.4 ≦ Vs / Vo <0.5”).

If it is determined in S310 that “0.4 ≦ Vs / Vo <0.5”, the process proceeds to S320, and level 2 is displayed by the warning level lamp 68 as in S160.
On the other hand, if it is determined in S310 that “0.4 ≦ Vs / Vo <0.5”, the process proceeds to S330, and the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 is set to the host vehicle speed, similar to S170. It is determined whether or not the value divided by Vo is 0.5 or more and less than 0.6 (that is, “0.5 ≦ Vs / Vo <0.6”).

If it is determined in S330 that “0.5 ≦ Vs / Vo <0.6”, the process proceeds to S340, and level 3 is displayed by the warning level lamp 68 as in S180.
On the other hand, when it is determined in S330 that “0.5 ≦ Vs / Vo <0.6”, the process proceeds to S350, and the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 is set to the host vehicle speed, similar to S190. It is determined whether the value divided by Vo is 0.6 or more and less than 0.7 (that is, “0.6 ≦ Vs / Vo <0.7”).

If it is determined in S350 that “0.6 ≦ Vs / Vo <0.7”, the process proceeds to S360, and level 4 is displayed by the warning level lamp 68 as in S200.
On the other hand, if it is determined in S350 that “0.6 ≦ Vs / Vo <0.7” is not satisfied (that is, if “Vs / Vo ≧ 0.7” is determined), the process proceeds to S370. As in S210, the warning level lamp 68 displays level 5.

  As described above, when the rear vehicle 3 is approaching rapidly (S280: NO), the five-level level display is also changed according to the change in the degree of rapid approach (S290 to S370).

  On the other hand, if it is determined in S270 that the rear vehicle 3 is not present, or if it is determined in S280 that “Vs / Vo <0.3” (determined that the rear vehicle 3 is not approaching rapidly). If YES, the process proceeds to S380, where level 0 is displayed by the warning level lamp 68. Specifically, all five of the warning level lamps 68 are turned off. Subsequently, the process proceeds to S390, and the approach lamp 65 is turned off. As a result, the driver of the host vehicle 2 is notified that the sudden approaching state of the rear vehicle 3 has been released. Thereafter, the process returns to S110.

(D): Tracking notification processing When the host vehicle 2 is determined to be tracked by the rear vehicle 3, the controller 90 turns on the tracking lamp 67 and issues a warning by sound while blinking the alarm lamp 69. Further, the degree of tracking is displayed by a warning level lamp 68.

  Here, specific contents of the tracking notification process will be described with reference to the flowchart of FIG. The tracking notification process is executed by the CPU 91 of the controller 90 according to a program stored in advance in the ROM 92 when the power switch 71 is turned on.

  When the tracking notification process is started, first, in S410, it is determined whether or not the rear vehicle 3 exists. Specifically, the rear detection sensor 10 is used to determine whether or not the rear vehicle 3 is detected in the detection range set by the range detection switch.

  If it is determined in S410 that the rear vehicle 3 exists, the process proceeds to S420, and the value obtained by dividing the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 by the host vehicle speed Vo is -0.2 or more and 0.0. It is determined whether it is less than 2 (that is, “−0.2 ≦ Vs / Vo ≦ 0.2”). That is, it is determined whether or not the rear vehicle 3 is traveling at a speed close to the own vehicle speed. Here, a speed within ± 20% of the host vehicle speed is set to a speed close to the host vehicle.

If it is determined in S420 that “−0.2 ≦ Vs / Vo ≦ 0.2” is not satisfied (when it is determined that the rear vehicle 3 is not traveling at a speed close to the own vehicle speed), the process proceeds to S410. Return.
On the other hand, when it is determined in S420 that “−0.2 ≦ Vs / Vo ≦ 0.2” (when it is determined that the rear vehicle 3 is traveling at a speed close to the own vehicle speed), S430 is performed. The timer T for use in determination processing (S450, S520, S580, S640, S700) described later is started.

  Subsequently, in S440, as in S420, a value obtained by dividing the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 by the host vehicle speed Vo is −0.2 or more and less than 0.2 (that is, “−0.2 ≦ It is determined whether or not Vs / Vo ≦ 0.2 ”). That is, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues.

If it is determined in S440 that “−0.2 ≦ Vs / Vo ≦ 0.2” is not satisfied (when it is determined that the rear vehicle 3 is not traveling at a speed close to the own vehicle speed), the process proceeds to S410. Return.
On the other hand, if it is determined in S440 that “−0.2 ≦ Vs / Vo ≦ 0.2” (determined that the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues. In the case), the process proceeds to S450, and it is determined whether or not the timer T started in S430 is equal to or longer than a predetermined time T1 (that is, “T ≧ T1”). In this way, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the host vehicle speed has passed the time T1.

If it is determined in S450 that “T ≧ T1” is not satisfied (when it is determined that the time T1 has not elapsed), the process returns to S440.
On the other hand, when it is determined in S450 that “T ≧ T1” (when it is determined that the time T1 has elapsed), the process proceeds to S460, and the tracking lamp 67 is turned on. As a result, the driver of the host vehicle 2 is notified that the rear vehicle 3 may be tracking the host vehicle 2.

Subsequently, in S470, level 1 is displayed by the warning level lamp 68. Specifically, only the leftmost lamp among the five lamps of the warning level lamp 68 is turned on.
Subsequently, in S480, the blinking operation of the alarm lamp 69 for a certain time is started. This gives a visual warning to the driver.

Subsequently, in S490, it is determined whether or not the vehicle speed Vo is less than the warning prohibition speed set by the warning disapproval buttons 74 and 75.
If it is determined in S490 that the host vehicle speed Vo is not less than the warning prohibition speed, the process proceeds to S500 and a sound warning is given. Specifically, when a warning by sound is set to sound by the warning switching button 77, a sound “Please pay attention to the vehicle behind” is output from the speaker 80. Further, when the warning by sound is set to the melody by the warning switching button 77, the melody is output from the speaker 80. Then, the process proceeds to S510.

  On the other hand, if it is determined in S490 that the vehicle speed Vo is less than the warning prohibition speed, the process proceeds to S510 as it is. That is, when the vehicle speed Vo is less than the warning prohibition speed, the warning by sound is prohibited.

  In S510, as in S420, the value obtained by dividing the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 by the host vehicle speed Vo is −0.2 or more and less than 0.2 (that is, “−0.2 ≦ Vs / Vo. ≦ 0.2 ”). That is, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues.

  In S510, when it is determined that “−0.2 ≦ Vs / Vo ≦ 0.2” (determined that the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues. In the case), the process proceeds to S520, and it is determined whether or not the timer T started in S430 is equal to or longer than a predetermined time T2 (T2> T1) (that is, “T ≧ T2”). In this way, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed has passed the time T2.

If it is determined in S520 that “T ≧ T2” is not satisfied (when it is determined that the time T2 has not elapsed), the process returns to S510.
On the other hand, when it is determined in S520 that “T ≧ T2” (when it is determined that the time T2 has elapsed), the process proceeds to S530 and the warning level lamp 68 displays level 2. Specifically, the left two lamps among the five lamps of the warning level lamp 68 are turned on.

Subsequently, in S540, the blinking operation of the alarm lamp 69 for a certain time is started. This gives a visual warning to the driver.
Subsequently, in S550, it is determined whether or not the vehicle speed Vo is less than the warning prohibition speed set by the warning disapproval buttons 74 and 75.

If it is determined in S550 that the host vehicle speed Vo is not less than the warning prohibition speed, the process proceeds to S560, and a sound warning is given as in S500. Then, the process proceeds to S570.
On the other hand, if it is determined in S550 that the host vehicle speed Vo is less than the warning prohibition speed, the process proceeds to S570 as it is. That is, when the vehicle speed Vo is less than the warning prohibition speed, the warning by sound is prohibited.

  In S570, as in S420, the value obtained by dividing the relative speed Vs of the rear vehicle 3 relative to the host vehicle 2 by the host vehicle speed Vo is −0.2 or more and less than 0.2 (that is, “−0.2 ≦ Vs / Vo. ≦ 0.2 ”). That is, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues.

  If it is determined in S570 that “−0.2 ≦ Vs / Vo ≦ 0.2” (determined that the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed is continuing). In the case), the process proceeds to S580, and it is determined whether or not the timer T started in S430 is equal to or longer than a predetermined time T3 (T3> T2) (that is, “T ≧ T3”). In this way, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed has passed the time T3.

If it is determined in S580 that “T ≧ T3” is not satisfied (when it is determined that the time T3 has not elapsed), the process returns to S570.
On the other hand, when it is determined in S580 that “T ≧ T3” (when it is determined that time T3 has elapsed), the process proceeds to S590, and level 3 is displayed by the warning level lamp 68. Specifically, among the five lamps of the warning level lamp 68, the left three lamps are turned on.

Subsequently, in S600, the alarm lamp 69 starts blinking for a predetermined time. This gives a visual warning to the driver.
Subsequently, in S610, it is determined whether or not the vehicle speed Vo is less than the warning prohibition speed set by the warning disapproval buttons 74 and 75.

If it is determined in S610 that the host vehicle speed Vo is not less than the warning prohibition speed, the process proceeds to S620 and a sound warning is given in the same manner as S500. Then, the process proceeds to S630.
On the other hand, if it is determined in S610 that the host vehicle speed Vo is less than the warning prohibition speed, the process proceeds to S630 as it is. That is, when the vehicle speed Vo is less than the warning prohibition speed, the warning by sound is prohibited.

  In S630, as in S420, a value obtained by dividing the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 by the host vehicle speed Vo is −0.2 or more and less than 0.2 (that is, “−0.2 ≦ Vs / Vo. ≦ 0.2 ”). That is, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues.

  And in S630, when it is determined that “−0.2 ≦ Vs / Vo ≦ 0.2” (determined that the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues. In the case), the process proceeds to S640, and it is determined whether or not the timer T started in S430 is equal to or longer than a predetermined time T4 (T4> T3) (that is, “T ≧ T4”). In this way, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed has passed the time T4.

If it is determined in S640 that “T ≧ T4” is not satisfied (when it is determined that the time T4 has not elapsed), the process returns to S630.
On the other hand, if it is determined in S640 that “T ≧ T4” (when it is determined that time T4 has elapsed), the process proceeds to S650, and level 4 is displayed by the warning level lamp 68. Specifically, among the five lamps of the warning level lamp 68, the left four lamps are turned on.

Subsequently, in S660, the blinking operation of the alarm lamp 69 for a certain time is started. This gives a visual warning to the driver.
Subsequently, in S670, it is determined whether or not the host vehicle speed Vo is less than the warning prohibition speed set by the warning disapproval buttons 74 and 75.

If it is determined in S670 that the host vehicle speed Vo is not less than the warning prohibition speed, the process proceeds to S680, and a warning by sound is performed as in S500. Then, the process proceeds to S690.
On the other hand, if it is determined in S670 that the host vehicle speed Vo is less than the warning prohibition speed, the process proceeds to S690 as it is. That is, when the vehicle speed Vo is less than the warning prohibition speed, the warning by sound is prohibited.

  In S690, as in S420, the value obtained by dividing the relative speed Vs of the rear vehicle 3 relative to the host vehicle 2 by the host vehicle speed Vo is not less than −0.2 and less than 0.2 (that is, “−0.2 ≦ Vs / Vo ≦ 0.2 ”). That is, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues.

  In S690, when it is determined that “−0.2 ≦ Vs / Vo ≦ 0.2” (determined that the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues. In the case), the process proceeds to S700, and it is determined whether or not the timer T started in S430 is equal to or longer than a predetermined time T5 (T5> T4) (that is, “T ≧ T5”). In this way, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed has passed the time T5.

When it is determined in S700 that “T ≧ T5” is not satisfied (when it is determined that the time T5 has not elapsed), the process returns to S690.
On the other hand, when it is determined in S700 that “T ≧ T5” (when it is determined that time T5 has elapsed), the process proceeds to S710, and level 5 is displayed by the warning level lamp 68. Specifically, all five lamps of the warning level lamp 68 are turned on.

Subsequently, in S720, the blinking operation of the alarm lamp 69 for a certain time is started. This gives a visual warning to the driver.
Subsequently, in S730, it is determined whether or not the vehicle speed Vo is less than the warning prohibition speed set by the warning disapproval buttons 74 and 75.

If it is determined in S730 that the host vehicle speed Vo is not less than the warning prohibition speed, the process proceeds to S740, and a warning by sound is performed as in S500. Then, the process proceeds to S750.
On the other hand, if it is determined in S730 that the vehicle speed Vo is less than the warning prohibition speed, the process proceeds to S750 as it is. That is, when the vehicle speed Vo is less than the warning prohibition speed, the warning by sound is prohibited.

  In S750, as in S420, a value obtained by dividing the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 by the host vehicle speed Vo is −0.2 or more and less than 0.2 (that is, “−0.2 ≦ Vs / Vo. ≦ 0.2 ”). That is, it is determined whether or not the state in which the rear vehicle 3 is traveling at a speed close to the own vehicle speed continues.

  If it is determined in S750 or S510, S570, S630, and S690 that “−0.2 ≦ Vs / Vo ≦ 0.2” is not satisfied (the rear vehicle 3 travels at a speed close to its own vehicle speed). If it is determined that it is not, the process proceeds to S760, where level 0 is displayed by the warning level lamp 68. Specifically, all five of the warning level lamps 68 are turned off. Subsequently, the flow proceeds to S770, and the tracking lamp 67 is turned off. Thus, the driver of the host vehicle 2 is notified that the tracking state by the rear vehicle 3 has been released. Subsequently, the process proceeds to S780, and the timer T is reset. Thereafter, the process returns to S410.

In the tracking notification process, the times T1 to T5 may be fixed values, for example, or may be different values depending on the vehicle speed, the relative speed, and the like.
(E): Disengagement notification process The controller 90 lights the disengagement lamp 66 while the relative speed of the rear vehicle 3 with respect to the host vehicle 2 is a negative value. That is, when the rear vehicle 3 is at a slower speed than the host vehicle 2 and the rear vehicle 3 is moving away from the host vehicle 2, the separation lamp 66 is turned on.

  Here, the specific content of the separation notification process will be described with reference to the flowchart of FIG. This leaving notification process is executed by the CPU 91 of the controller 90 according to a program stored in advance in the ROM 92 when the power switch 71 is turned on.

  When the departure notification process is started, first, in S810, it is determined whether or not the rear vehicle 3 exists. Specifically, the rear detection sensor 10 is used to determine whether or not the rear vehicle 3 is detected in the detection range set by the range detection switch.

  If it is determined in S810 that the rear vehicle 3 exists, the process proceeds to S820, in which whether or not the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 is less than 0 (that is, “Vs <0”). judge. That is, it is determined whether or not the rear vehicle 3 is moving away from the host vehicle 2.

If it is determined in S820 that “Vs <0” is not satisfied (when it is determined that the rear vehicle 3 is not moving away from the host vehicle 2), the process returns to S810.
On the other hand, when it is determined in S820 that “Vs <0” (when it is determined that the rear vehicle 3 is moving away from the host vehicle 2), the process proceeds to S830, and the departure lamp 66 is turned on. This notifies the driver of the host vehicle 2 that the rear vehicle 3 is moving away.

Subsequently, in S840, it is determined whether or not the rear vehicle 3 exists as in S810.
If it is determined in S840 that the rear vehicle 3 exists, the process proceeds to S850, and the relative speed Vs of the rear vehicle 3 with respect to the host vehicle 2 is less than 0 (that is, “Vs <0”) as in S820. It is determined whether or not. That is, it is determined whether or not the rear vehicle 3 continues to be away from the host vehicle 2.

  If it is determined in S850 that “Vs <0” (when it is determined that the state in which the rear vehicle 3 is moving away from the host vehicle 2 continues), the process returns to S840. Thereby, the lighting state of the separation lamp 66 is maintained.

  On the other hand, if it is determined in S840 that the rear vehicle 3 does not exist or if it is determined in S850 that “Vs <0” is not satisfied (the state in which the rear vehicle 3 is moving away from the host vehicle 2 is not continued). ), The process proceeds to S860, the separation lamp 66 is turned off, and the process returns to S810.

(F): Curve travel notification prohibition process The controller 90 determines whether or not the vehicle 2 is in a curved road running state by the curve detection sensor 40, and determines that the vehicle 2 is in a curved road running state. Processing is performed so that no sound is output from the speaker 80. That is, the warning by sound is prohibited while the host vehicle 2 is traveling on a curved road.

  In the rear state notification device 1 of the present embodiment, the rear detection sensor 10 corresponds to the rear state detection unit of the present invention, the rear warning lamp 20 corresponds to the rear notification unit of the present invention, and the GPS receiver 30. Is equivalent to the own vehicle speed detection means of the present invention, and the curve detection sensor 40 corresponds to the curve road determination means of the present invention. The relative speed display unit 63 corresponds to the relative speed display means of the present invention, and the approach lamp 65, the separation lamp 66, the tracking lamp 67, the warning level lamp 68, the alarm lamp 69, and the speaker 80 are the own vehicle of the present invention. The detection range setting switch 73 corresponds to the notification means, the range change operation means of the present invention, and the warning disapproval buttons 74 and 75 correspond to the speed change operation means of the present invention. Further, the processing of S110 to S130, S150, S170, and S190 in the approach notification processing (FIG. 4) corresponds to the approach determination means of the present invention, and in particular, the processing of S150 corresponds to the rear-end collision determination means of the present invention. Further, the processes of S140, S160, S180, S200, S210, S230, S240, and S260 correspond to the approach notification control means of the present invention, and the process of S220 corresponds to the rear-end collision notification control means of the present invention. Further, the processing of S410 to S450, S510, S520, S570, S580, S630, S640, S690, and S700 in the tracking notification processing (FIG. 6) corresponds to the tracking determination means of the present invention, and S460 to S480, S500, and S530. , S540, S560, S590, S600, S620, S650, S660, S680, S710, S720, S740 correspond to the tracking notification control means of the present invention, and the processes of S490, S550, S610, S670, S730 are: This corresponds to the low speed notification prohibiting means of the present invention. Further, the processes of S810 and S820 in the separation notification process (FIG. 7) correspond to the separation determination unit of the present invention, and the process of S830 corresponds to the separation notification control unit of the present invention. Moreover, the notification prohibition process during curve traveling corresponds to the curve notification prohibiting means of the present invention.

  As described above, in the rear state notification device 1 of the present embodiment, the state of the rear vehicle 3, specifically, the state in which the rear vehicle 3 is rapidly approaching the host vehicle 2, and the rear vehicle 3 is the host vehicle 2. The driver of the own vehicle 2 is notified of the state in which the vehicle 2 may be tracked and the state in which the rear vehicle 3 is moving away from the own vehicle 2. For this reason, according to the rear state notification device 1, it is possible to effectively assist the driver of the host vehicle 2 to grasp the rear state. In particular, in the rear state notification device 1, the approach lamp 65, the separation lamp 66, and the tracking lamp 67 are turned on according to the situation, so that the driver can intuitively grasp the state of the rear vehicle 3. it can. Moreover, since the notification is also made by voice or melody, the time required for the driver to confirm the notification contents by visual recognition can be shortened, and as a result, the driving can be made difficult to be hindered. In addition, by notifying rapid approach and tracking, it is possible to prompt the driver of the vehicle to take some measures.

  On the other hand, in the rear state notification device 1, the detection range setting switch 73 can set the detection range behind the host vehicle 2 by the rear detection sensor 10 to an appropriate range according to the traveling situation and the like. For this reason, according to this back state alerting | reporting apparatus 1, it can make it difficult to produce a misjudgment.

  Moreover, in this back state alerting | reporting apparatus 1, when the traveling speed of the own vehicle 2 is less than warning prohibition speed, the alerting | reporting by a sound is not performed. For this reason, according to this back state alerting | reporting apparatus 1, the unnecessary alerting | reporting by a sound can be reduced. In particular, in the rear state notification device 1, the warning prohibition speed can be changed by the warning disapproval buttons 74 and 75. For this reason, according to the rear state notification device 1, unnecessary notification by sound can be effectively reduced by setting the warning prohibition speed to an appropriate value in accordance with the traveling state or the like.

  Here, an example of the effect by prohibiting notification according to the traveling speed is given. In general, it is considered that the driver of the vehicle tends to unintentionally increase the traveling speed when tracked by the rear vehicle. If the rear vehicle is a covered police car that controls the speed violation, the legal speed is usually It is possible that he will be arrested for speeding, despite driving while following the rules. Therefore, for example, if the warning prohibition speed is set to 60 km / h on a general road, the notification is made by sound only when the legal speed is exceeded, so the driver can be urged to reduce the speed. .

  On the other hand, in the rear state notification device 1, the vehicle speed is calculated based on detection information from the GPS receiver 30. For this reason, according to the rear state notification device 1, the rear state notification device 1 can be easily attached to the vehicle as compared with the configuration using the vehicle speed sensor.

  Further, in the rear state notification device 1, when the rear vehicle 3 is traveling at a speed close to the own vehicle speed (speed within ± 20% in the present embodiment) for a predetermined time, the rear vehicle 3 detects the own vehicle 2. Notification that tracking is in progress. For this reason, according to this back state alerting | reporting apparatus 1, the discriminability of the back vehicle 3 which has intentionally tracked the own vehicle 2 can be made high. That is, since the driver of the vehicle that intentionally tracks the vehicle ahead tries to drive as much as possible to the traveling speed of the preceding vehicle, the vehicle continues to travel at a speed close to the traveling speed of the host vehicle 2. The vehicle 3 is considered to have a high possibility of intentional tracking.

  Further, in the rear state notification device 1, a five-level display is performed using the warning level lamp 68. For this reason, according to this back state alerting | reporting apparatus 1, the passenger | crew of the own vehicle 2 can be made to recognize intuitively the degree which needs attention.

  Moreover, in this back state alerting | reporting apparatus 1, when the approach degree of the back vehicle 3 is high, the back warning lamp 20 blinks for a fixed time. For this reason, according to the rear state notification device 1, it is possible to notify the occupant of the rear vehicle 3 that there is a risk of a rear-end collision with the host vehicle 2, and to prompt measures such as deceleration. In particular, the determination process for notifying the occupant of the host vehicle 2 of the sudden approach of the rear vehicle 3 and the determination process for notifying the occupant of the rear vehicle 3 of the rapid approach are shared, thereby simplifying the process. be able to.

  Further, in the rear state notification device 1, when the relative speed of the rear vehicle 3 with respect to the host vehicle 2 is lower than 0, it is determined that the rear vehicle 3 is moving away from the host vehicle 2. It can be carried out.

  On the other hand, in the rear state notification device 1, the relative speed of the rear vehicle 3 with respect to the host vehicle 2 is displayed on the relative speed display unit 63. For this reason, according to the rear state notification device 1, the occupant of the host vehicle 2 can grasp the relative speed of the rear vehicle 3 with respect to the host vehicle 2. Thereby, grasping | ascertaining of the back condition by the driver | operator of the own vehicle 2 can be assisted effectively. In particular, in the present rear condition notification device 1, the vehicle speed is also displayed on the vehicle speed display unit 62, so that the driver can grasp the traveling speed of the rear vehicle 3 based on the vehicle speed and the relative speed. be able to.

  Further, in the rear state notification device 1, a warning by sound is prohibited while the host vehicle 2 is traveling on a curved road. For this reason, according to this back state alerting | reporting apparatus 1, it can reduce that the alerting | reporting by a sound will be performed by misjudgment.

As mentioned above, although one Embodiment of this invention was described, it cannot be overemphasized that this invention can take a various form.
For example, the approach lamp 65, the separation lamp 66, and the tracking lamp 67 are configured to light up in different colors, so that the driver of the host vehicle 2 can be more intuitively notified of the state of the rear vehicle 3. Can do. In addition, for example, if the display color of the relative speed in the relative speed display unit 63 is configured to change to the same color as the lit lamp among the approaching lamp 65, the leaving lamp 66, and the tracking lamp 67, it is more effective. Is.

  In the rear state notification device 1 of the above embodiment, the vehicle speed is calculated based on the detection information from the GPS receiver 30. However, the present invention is not limited to this. For example, the vehicle speed pulse is used. The structure which detects the own vehicle speed may be sufficient.

  Moreover, in the back state alerting | reporting apparatus 1 of the said embodiment, although the back detection sensor 10 and the back warning lamp 20 are comprised separately, it is not restricted to this, You may be comprised integrally. Similarly, in the rear state notification device 1 of the above-described embodiment, the operation unit 60 is incorporated in the main body unit 50, but is not limited thereto, and may be configured separately from the main body unit 50.

  Furthermore, although the microwave sensor is used as the rear detection sensor 10 in the rear state notification device 1 of the above embodiment, the present invention is not limited to this. For example, instead of the microwave sensor, a millimeter wave radar, an ultrasonic sensor, a laser radar, an optical sensor, an infrared sensor, a CCD camera (detected by image processing), or the like can be used.

  Here, as is well known, the millimeter wave radar transmits a millimeter wave band radio wave and receives a reflected wave thereof, so that the distance and relative speed with respect to the target (rear vehicle 3), and the target Detect the direction in which there is. The millimeter wave radar has an advantage of high resistance to a bad weather environment such as rain, snow and fog.

  On the other hand, in the rear state notification device 1 of the above embodiment, the approach, tracking, and departure of the rear vehicle 3 are determined based on the relative speed of the rear vehicle 3 with respect to the host vehicle 2 and the host vehicle speed. It is not limited to this. For example, the inter-vehicle distance with the rear vehicle 3 may be detected, and the determination may be performed based on the detected inter-vehicle distance.

  In the rear state notification device 1 of the above embodiment, the rear warning lamp 20 is used to notify the passengers of the rear vehicle 3, but the present invention is not limited to this. For example, the rear warning lamp 20 It is good also as a structure which is not provided. Moreover, you may comprise so that the back warning lamp 20 can be retrofitted.

  Further, in the rear state notification device 1 of the above-described embodiment, when the vehicle speed is less than the warning prohibition speed, a warning by sound is prohibited even when the rear vehicle 3 is in a state of sudden approach or tracking. However, it is not limited to this. For example, light warning (approach lamp 65, tracking lamp 67, warning level lamp 68, alarm lamp 69) may be prohibited. On the other hand, the configuration may be such that warning is not prohibited at all, and an operation button for receiving an operation for selecting one of a mode prohibiting warning and a mode not prohibiting (corresponding to the prohibition selection operation means of the present invention). And a configuration in which the vehicle is selected by a passenger of the host vehicle. Here, if the configuration is such that at least the rear vehicle 3 is approaching rapidly and the warning is not prohibited, for example, it is urged to deal with an accident in which the rear vehicle 3 collides when the host vehicle 2 stops or travels at a low speed. be able to.

  On the other hand, the rear state notification device 1 of the above-described embodiment is used by being attached to a vehicle, but is not limited to this, and may be incorporated in the vehicle in advance, for example.

Further, the present invention may be combined with other known devices. Specifically, for example, the following combinations can be considered.
(A): Combined with a radar detector. As is well known, a radar detector is used in a state where it is attached to a vehicle, and is used to detect a radar-type speed measuring device. Here, since some recent radar detectors are equipped with a GPS receiver for the purpose of detecting the position of the vehicle, the GPS receiver can be used. Some recent radar detectors have a function of determining the approach of an emergency vehicle using a car locator system. Here, the car locator system is a system in which an emergency vehicle (for example, a police car) periodically transmits its own vehicle position information calculated by GPS to the communication command headquarters, and the radar detector is transmitted from the emergency vehicle. When an incoming radio wave is received, notification of the approach of an emergency vehicle is made.

  (B): Combined with a vehicle antitheft device. Since the vehicle antitheft device is attached to the vehicle as is well known, the installation space required on the vehicle side can be reduced by combining them.

  (C): Combined with a car navigation system. Since the car navigation system includes a GPS receiver, the GPS receiver can be used. In addition, the display and the operation unit can be used.

Finally, technical ideas that can be grasped from the above-described embodiment and other than the above-mentioned claims will be described together with the effects thereof.
(1): A vehicle-mounted informing device used in a state where it is mounted on a vehicle, and a rear state detecting means for detecting a state behind the host vehicle (the vehicle on which the in-vehicle informing device is mounted) (for example, An approach determining means for determining whether or not a rear vehicle (a vehicle traveling behind the host vehicle) is suddenly approaching the host vehicle based on information detected by the rear state detecting unit; A vehicle notifying means for performing a notification operation (e.g., a notification operation using sound (melody, voice, etc.) or a notification operation using light (lamp, character, etc.)) and the approach determination means, When it is determined that the vehicle is approaching rapidly, an approach notification control means for causing the vehicle notification means to perform a notification operation for notifying the fact, and a host vehicle for detecting the traveling speed of the host vehicle Speed detecting means; and When the traveling speed of the host vehicle detected by the vehicle speed detecting unit is lower than a predetermined notification prohibiting speed, all or part of the notification operation by the host vehicle notification unit (for example, notification operation by sound and notification operation by light) And a low-speed notification prohibiting means for prohibiting the former notification operation).

According to the in-vehicle notification device, it is possible to notify the passenger of the own vehicle that there is a rear vehicle that is approaching the own vehicle, and to prompt some action.
In addition, according to the in-vehicle notification device, unnecessary notification operations can be reduced. In particular, since the sound notification operation is annoying if it is frequently performed, a configuration in which at least the sound notification operation is not performed is preferable.

  In addition, in a state where the rear vehicle is rapidly approaching the host vehicle, the driver of the host vehicle may unintentionally increase the speed. Therefore, for example, if the notification prohibition speed is set to the legal speed, for example, the notification operation is performed without being prohibited only when the traveling speed of the host vehicle exceeds the legal speed. It is possible to make the driver of the own vehicle recognize that it exceeds the limit.

Incidentally, the present-vehicle notification device (specifically, claim 2,4～6, 10-17) each claim by subordinate structure according to obtain the effects described for each claim be able to.

  (2): It is a vehicle-mounted notification device used in a state where it is mounted on a vehicle, and a rear-state detection means for detecting a state behind the host vehicle (a vehicle on which the vehicle-mounted notification device is mounted) (for example, An approach determining means for determining whether or not a rear vehicle (a vehicle traveling behind the host vehicle) is suddenly approaching the host vehicle based on information detected by the rear state detecting unit; A vehicle notifying means for performing a notification operation (e.g., a notification operation using sound (melody, voice, etc.) or a notification operation using light (lamp, character, etc.)) and the approach determination means, When it is determined that the vehicle is suddenly approaching, the vehicle is notified from the approach information control means for causing the vehicle information means to perform a notification operation for notifying the fact, and the rear obtained from the detection information by the rear condition detection means. car Vehicle notification device, wherein the relative speed display means for displaying the relative speed, further comprising a with respect to the vehicle of.

According to the in-vehicle notification device, it is possible to notify the passenger of the own vehicle that there is a rear vehicle that is approaching the own vehicle, and to prompt some action.
And according to this vehicle-mounted alerting | reporting apparatus, the passenger | crew of the own vehicle can grasp | ascertain the state (relative speed) with respect to the own vehicle of a back vehicle. Thereby, grasping | ascertaining of the back condition by a driver | operator can be assisted effectively.

Incidentally, the present-vehicle notification device (specifically, claim 2-6, 10-15, 17) each claim by subordinate structure according to obtain the effects described for each claim be able to.

It is a block diagram showing the structure of the back state alerting | reporting apparatus of embodiment. It is explanatory drawing for demonstrating the outline | summary of the function of a back condition alerting | reporting apparatus. It is explanatory drawing for demonstrating the external appearance of an operation part. It is a flowchart (1) of an approach alerting | reporting process. It is a flowchart (2) of an approach alerting | reporting process. It is a flowchart of a tracking alerting | reporting process. It is a flowchart of a leaving notification process.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Back state alerting device, 2 ... Own vehicle, 3 ... Back vehicle, 10 ... Back detection sensor, 20 ... Back warning lamp, 30 ... GPS receiver, 40 ... Curve detection sensor, 50 ... Main-body part, 60 ... Operation part 61 ... GPS reception lamp, 62 ... own vehicle speed display section, 63 ... relative speed display section, 64 ... warning disapproval lamp, 65 ... approach lamp, 66 ... separation lamp, 67 ... tracking lamp, 68 ... warning level lamp, 69 ... Alarm lamp, 71 ... Power switch, 72 ... Volume adjuster, 73 ... Detection range setting switch, 74 ... Warning disapproval button, 75 ... Warning disapproval button, 76 ... Test / mute button, 77 ... Warning switch button, 80 ... speaker, 90 ... controller

Claims (17)

An in-vehicle notification device used in a state of being mounted on a vehicle,
A rear state detection means for detecting the rear of the status of the vehicle both in the vehicle in which the vehicle informing device is mounted,
Based on the information detected by said rearward condition detecting means, and the rear wheel both judges tracking determining means whether or not the tracking vehicle is a vehicle traveling behind the vehicle,
A vehicle notification means for performing a notification operation for a passenger of the vehicle;
When it is determined by the tracking determination means that the rear vehicle is tracking the own vehicle, a tracking notification control means for causing the own vehicle notification means to perform a notification operation for notifying that effect;
With
The tracking determination means, when the relative speed of the rear vehicle determined from the detection information by the rear situation detection means is within a predetermined range near 0 including 0 continues for a certain period of time, Determining that the rear vehicle is tracking the vehicle;
A vehicle-mounted alarm device characterized by the above. The in-vehicle notification device according to claim 1,
A range change operation means for receiving an operation for changing a distance range behind the host vehicle to be detected by the rear situation detection means;
A distance range behind the host vehicle to be detected by the rear situation detecting means is changed according to an operation received by the range changing operation means;
A vehicle-mounted alarm device characterized by the above. The in-vehicle informing device according to claim 1 or 2,
Own vehicle speed detecting means for detecting the traveling speed of the own vehicle;
When the traveling speed of the host vehicle detected by the host vehicle speed detecting unit is lower than a predetermined notification prohibiting speed, the low speed notification prohibiting unit prohibiting all or part of the notification operation by the host vehicle notifying unit;
An in-vehicle notification device comprising: The in-vehicle notification device according to claim 3,
A prohibition selection operation means for receiving an operation for selecting whether to prohibit the notification operation by the low-speed notification prohibition means;
Whether or not to prohibit the notification operation by the low-speed notification prohibiting unit is selected according to the operation received by the prohibition selection operating unit;
A vehicle-mounted alarm device characterized by the above. The in-vehicle notification device according to claim 3 or 4,
Comprising a speed change operation means for receiving an operation for changing the notification prohibition speed;
The notification prohibiting speed is configured to be changed according to an operation received by the speed changing operation means;
A vehicle-mounted alarm device characterized by the above. The in-vehicle alarm device according to any one of claims 3 to 5,
The own vehicle speed detecting means detects a running speed of the own vehicle based on a radio wave transmitted from an artificial satellite for GPS,
A vehicle-mounted alarm device characterized by the above. The in-vehicle informing device according to any one of claims 1 to 6,
The tracking determination means determines the state in which the rear vehicle is tracking the host vehicle in a plurality of stages,
When the tracking determination control unit determines that the rear vehicle is tracking the host vehicle, the tracking notification control unit performs a notification operation according to a plurality of states distinguished by the tracking determination unit. Let the reporting means do,
A vehicle-mounted alarm device characterized by the above . The in-vehicle informing device according to claim 7,
The tracking determination means distinguishes and determines the state in which the rear vehicle is tracking the host vehicle in a plurality of stages according to the length of time that the rear vehicle is tracking the host vehicle;
A vehicle-mounted alarm device characterized by the above . The in-vehicle alarm device according to any one of claims 1 to 8,
Based on the detection information by the rear situation detection means, an approach determination means for determining whether or not the rear vehicle is rapidly approaching the host vehicle,
An approach notifying control means for causing the own vehicle notifying means to perform a notifying operation for notifying that when the approach determining means determines that the rear vehicle is rapidly approaching the own vehicle;
An in- vehicle notification device comprising: The in-vehicle notification device according to claim 9,
When the relative speed of the rear vehicle with respect to the host vehicle obtained from the detection information by the rear state detecting unit is equal to or higher than a predetermined value, the approach determining unit is Judging,
A vehicle-mounted alarm device characterized by the above . The in-vehicle informing device according to claim 9 or 10,
The approach determining means determines the state in which the rear vehicle is rapidly approaching the host vehicle by distinguishing it in a plurality of stages,
The approach notification control means performs a notification operation corresponding to a plurality of states distinguished by the approach determination means when the approach determination means determines that the rear vehicle is approaching the host vehicle. Let the vehicle alert means do it,
A vehicle-mounted alarm device characterized by the above . The in-vehicle informing device according to claim 11,
The approach determining means distinguishes the state in which the rear vehicle is suddenly approaching the host vehicle in a plurality of stages according to the degree of relative speed of the rear vehicle to the host vehicle obtained from the detection information by the rear situation detecting unit. Judging,
A vehicle-mounted alarm device characterized by the above . The in-vehicle alarm device according to any one of claims 1 to 12,
A rear-end collision determination unit that determines whether or not there is a high risk of a rear vehicle colliding with the host vehicle based on detection information by the rear state detection unit;
A rear notification means for performing a notification operation to a passenger of a rear vehicle;
When it is determined by the rear-end collision determination means that the risk of a rear vehicle colliding with the host vehicle is high, a rear-end collision notification control means for causing the rear notification means to perform a notification operation for notifying that effect;
An in- vehicle notification device comprising: The in-vehicle alarm device according to any one of claims 1 to 13,
A departure determination unit that determines whether or not a rear vehicle is moving away from the host vehicle based on detection information by the rear state detection unit;
When it is determined by the departure determination means that the rear vehicle is moving away from the own vehicle, a departure notification control means for causing the own vehicle notification means to perform a notification operation for notifying that effect;
An in- vehicle notification device comprising: The in-vehicle alarm device according to claim 14,
The leaving determination means determines that the rear vehicle is moving away from the own vehicle when the relative speed of the rear vehicle to the own vehicle obtained from the detection information by the rear situation detection means is lower than 0.
A vehicle-mounted alarm device characterized by the above . The in-vehicle alarm device according to any one of claims 1 to 15,
Provided with a relative speed display means for displaying a relative speed of the rear vehicle with respect to the host vehicle obtained from detection information by the rear situation detection means;
A vehicle-mounted alarm device characterized by the above . The in-vehicle alarm device according to any one of claims 1 to 16,
A curved road detection means for detecting that the host vehicle is traveling on a curved road;
A curve notification prohibiting means for prohibiting all or part of the notification operation by the own vehicle notification means when the curved road detection means detects that the host vehicle is traveling on a curved road; ,
An in- vehicle notification device comprising:

Images